A joint beautifying machine

Abstract

The present application relates to a kind of joint beautifying machine, including rack, glue injection mechanism, guiding device, lifting device and driving device;Glue injection mechanism, guiding device, lifting device are all installed on rack;Driving device is installed in the lower part of lifting device, wherein guiding device extends from rack to the outside of rack, and at least one end of guiding device is towards ground;The guiding device includes guide wheel mechanism and infrared sensor, guide wheel mechanism and infrared sensor are all installed on rack;When driving device drives rack to move along the surface of floor tile, at least a part of guide wheel mechanism is inserted into the gap of floor tile, and moves forward along the gap of floor tile, and simultaneously infrared sensor scans whether there is gap in front of travel direction, infrared sensor cooperates with guide wheel mechanism, and can realize the identification and tracking of different types or different specifications floor tile gap.

Description

Technical Field

[0001] This invention relates to the field of tile grout machine technology, specifically a tile grout machine. Background Technology

[0002] With the rapid development of China's building decoration industry, tile laying has become an important part of interior and exterior decoration. After the tiles are laid, the gaps between them need to be sealed with grout to improve the overall aesthetics and waterproof performance. Traditional grout sealing techniques mainly rely on manual operation, which suffers from problems such as low efficiency, inconsistent quality, and high labor intensity.

[0003] With the advancement of automation technology, existing tile grouting equipment generally suffers from limited functionality and insufficient intelligence, making it difficult to adapt to complex construction scenarios. Furthermore, it often requires repeated manual adjustments, failing to meet the high standards demanded by modern renovations. CN120465666A discloses an integrated tile grouting machine and method that uses a single camera detection method to inspect tile gaps, resulting in low efficiency and large errors. As people's living standards improve, their demands for the quality and aesthetics of home decoration are increasing. Tile grouting, as a crucial step in enhancing the decoration effect, has received widespread attention. Traditional manual grouting is inefficient, requires high technical skills, and produces inconsistent quality, making it difficult to meet the needs of large-scale renovations. Therefore, the market urgently needs a highly efficient, convenient tool that can guarantee grouting quality, enabling precise material extrusion control and stable operation. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a tile grouting machine to solve the problems of low efficiency and large error in the existing tile grouting machines in the background technology, which use a single detection method to detect the gaps in floor tiles.

[0005] To achieve the above objectives, the present invention proposes a grout sealing machine, comprising a frame, a glue injection mechanism, a guiding device, a lifting device, and a driving device; The dispensing mechanism, guiding device, and lifting device are all mounted on the frame; The drive unit is installed at the bottom of the lifting device, and the lifting device is used to adjust the height of the drive unit. The guiding device extends outward from the frame to the outside of the frame, and at least one end of the guiding device faces the ground; the guiding device includes a guide wheel mechanism and an infrared sensor, both of which are mounted on the frame; When the drive unit moves the frame along the surface of the floor tiles, at least a portion of the guide wheel mechanism extends into the gaps between the tiles and moves forward along the gaps. Simultaneously, an infrared sensor scans ahead in the direction of travel for any gaps. The infrared sensor, in conjunction with the guide wheel mechanism, enables the identification and tracking of gaps in different types and sizes of floor tiles. This significantly improves upon the shortcomings of traditional tile grouting construction, such as low efficiency and large errors in manual positioning, and the low efficiency and large errors of traditional tile grouting machines using a single detection method. The unique "pre-scan + real-time correction" working mode ensures that the grout and filling path are always precisely aligned with the center line of the gap, ensuring zero damage to the tile edges and significantly improving the aesthetics of the installation. This design not only solves the long-standing problem of construction accuracy in the industry but also, through intelligent and automated detection methods, improves efficiency while maximizing the overall aesthetics and lifespan of the tile installation.

[0006] Preferably, the guide wheel mechanism includes a mounting bracket, a guide wheel, a micro-motion sensor, a lever, and a spring; The mounting bracket, micro-motion sensor, and lever are all mounted on the frame. One end of the mounting bracket is mounted on the rack; the other end of the mounting bracket faces the ground and extends outward from the rack. The guide wheel is mounted on one end of the mounting bracket, with the guide wheel located at the end facing the ground; The micro-motion sensor is positioned accordingly with the mounting bracket, and the micro-motion sensor is in contact with the mounting bracket or has a certain gap with it. The micro-motion sensor is used to detect whether the guide wheel is stuck in the gap. When it is stuck in the gap, the micro-switch in the micro-motion sensor is triggered, and the grout sealing machine starts to move forward and begin to fill the gap.

[0007] The spring is mounted on the mounting bracket and is used to limit the position of the mounting bracket, thereby controlling the angle between the mounting bracket and the floor tile. When the tile grouting machine moves, the guide wheel also moves on the floor, and the spring is in a compressed state. When the infrared sensor on the side detects a gap, the tile grouting machine moves to the side, and the guide wheel moves to the side into the gap at the same time. When the guide wheel moves into the gap, the spring pressure is released. A third servo motor is installed on the frame. The third servo motor is connected to a lever. The lever is used to move the mounting bracket, thereby raising the guide wheel. When the guide wheel needs to be raised, the third servo motor drives the lever to rotate upward, causing the lever to move the mounting bracket upward, thereby raising the guide wheel and allowing it to leave the filled gap.

[0008] Preferably, the dispensing mechanism includes a first base, a first drive assembly, a push rod, and a dispensing tube; The first base is installed on the frame; The first drive assembly, push rod, and hose are all mounted on the first base; The first drive assembly is connected to the push rod. The first drive assembly is used to drive the push rod to move towards or away from the glue tube. When the first drive assembly drives the push rod to move towards the glue tube, the push rod evenly squeezes the sealant in the glue tube, and the sealant flows into the gap of the floor tile through the glue tube.

[0009] Preferably, the first drive assembly includes a first motor, a first planetary gear set, a second planetary gear set, and an output gear set; The first motor is mounted on the first base. The first motor is connected to the first planetary gear set. The first planetary gear set is connected to the second planetary gear set. The second planetary gear set is connected to the output gear set. The output gear set is connected to the push rod. The push rod features multiple grooves that engage with the teeth of the output gear set, enabling the gear set to drive the push rod. This design significantly improves adhesive dispensing efficiency and simplifies the application process. More importantly, this constant-pressure delivery method ensures uniform adhesive dispensing, maximizing the stability of the grout quality.

[0010] Preferably, the first planetary gear set includes a first driving gear and four first driven gears. The first driving gear is connected to the output end of the first motor, the first driven gears mesh with the first driving gear, and the first driven gears are arranged around the outer contour edge of the first driving gear, with a certain gap between two adjacent first driven gears.

[0011] Preferably, the second planetary gear set includes four second driving gears and one second driven gear. The second driving gears are connected to the corresponding first driven gears and mesh with the second driven gears. The second driving gears are arranged around the outer contour edge of the second driven gears, and there is a certain gap between two adjacent second driving gears.

[0012] Preferably, the output gear set includes a third driving gear and two third driven gears. The third driving gear is connected to the second driven gear and meshes with the third driven gear. The two third driven gears are positioned opposite each other, and each third driven gear cooperates with a corresponding push rod, thereby enabling the third driven gear to drive the push rod to move.

[0013] Preferably, the dispensing mechanism includes two push rods; The push rod has a first component on one end and a second component on the other end; The first component is a cylindrical part, such as a plunger or piston; The first piece is used to squeeze the sealant inside the hose towards the hose outlet; The second component is used to connect the ends of the two push rods away from the hose, so that the two push rods can move synchronously. When it is necessary to inject grout into the gaps between the floor tiles, the first motor drives two push rods to move closer to the hose. The first push rod extends into the hose and evenly squeezes the grout in the hose, allowing the grout to flow into the gaps between the floor tiles through the hose.

[0014] Preferably, the dispensing mechanism further includes a rotating base assembly; The rotating base assembly is mounted on the frame, and the first base is mounted on the rotating base assembly; The rotating base assembly drives the first base and components mounted on it to rotate 0-180 degrees, enabling dynamic adjustment of the construction direction. This allows for direction adjustment without moving the machine body, significantly shortening the grouting time and improving efficiency. This mechanism can also address gaps previously obscured by the vehicle body while completing regular gap filling, ensuring continuous, uninterrupted adhesive lines and greatly improving processing speed and accuracy. Compared to existing machines with fixed adhesive outlets, this solution achieves a higher completeness rate and more continuous adhesive lines. This design not only significantly improves filling efficiency but also enhances the continuity of the grouting machine's operation. More importantly, this method ensures the integrity of the gap filling, improves efficiency, and eliminates the need for subsequent manual filling.

[0015] Preferably, the lifting device includes multiple sets of lifting components, with a certain distance between adjacent sets of lifting components; Each lifting assembly includes at least one lifting frame and at least one second drive assembly; The lifting frame is connected to the machine frame, and the lifting frame is also connected to the second drive assembly, which is mounted on the machine frame. The lifting frame can slide up and down relative to the frame, and the second drive component can drive the lifting frame to rise or fall along the frame.

[0016] Preferably, a rack is installed on the inner side of the lifting frame; The second drive assembly includes a first servo motor and a second gear, the second gear being mounted on the output end of the first servo motor and meshing with a rack; When the first servo motor rotates forward or backward, it drives the second gear to rotate forward or backward, thereby causing the lifting frame to rise or fall.

[0017] By mounting a second gear on the first servo motor in conjunction with a rack and pinion, precise lifting and lowering control of the rollers can be achieved. This allows the machine to precisely avoid filled gaps of varying widths and tiling patterns, ensuring zero damage to the grout and stable machine movement. This structural design not only improves construction quality but also reduces manual intervention. Compared to traditional methods that directly destroy or re-fill the original gaps, it reduces the need for subsequent processing, making it more efficient and intelligent.

[0018] Preferably, the drive unit includes multiple Mecanum wheels, multiple second motors, multiple omnidirectional wheels, and multiple third motors; Both the second and third motors are installed at the bottom of the lifting device, with a certain distance between them. At least one Mecanum wheel is installed on each second motor, and at least one omnidirectional wheel is installed on each third motor; When the second motor drives the corresponding Mecanum wheel to rotate, it can move or rotate the frame along the surface of the floor tiles in any direction. When the third motor drives the corresponding omnidirectional wheel to rotate, it can drive the frame to rotate or move on the surface of the floor tiles; When the second motor drives the corresponding Mecanum wheel to rotate, and the third motor drives the corresponding omnidirectional wheel to rotate, the frame can be moved or rotated along the surface of the floor tiles in any direction.

[0019] When linear motion is required, the Mecanum wheel and the omnidirectional wheel rotate in the same direction and at the same speed. When rotation in place is required, the two Mecanum wheels on each diagonal rotate in opposite directions, generating rotational torque (e.g., the front wheels rotate forward and the rear wheels rotate in reverse); or when rotation in place is required, the two omnidirectional wheels rotate in opposite directions, generating rotational torque (e.g., the front wheels rotate forward and the rear wheels rotate in reverse).

[0020] When lateral translation is required, the two diagonal Mecanum wheels rotate in the same direction and at the same speed, while the Mecanum wheels on the same side rotate in opposite directions; or when lateral translation is required, adjust the speed difference between the two omnidirectional wheels and use the small rollers to roll laterally to achieve lateral movement (such as the left / right omnidirectional wheels rotating in opposite directions).

[0021] When diagonal translation is required, only one set of two Mecanum wheels on the diagonal rotate in the same direction and at the same speed.

[0022] Preferably, the frame includes a first plate, a second plate, and a plurality of rods; The first board is located above the second board, and there is a certain distance between the first board and the second board; The first plate and the second plate are connected by a rod.

[0023] Preferably, it also includes multiple auxiliary wheel assemblies; The auxiliary wheel assembly includes an auxiliary bracket and auxiliary wheels. The auxiliary support is installed on the side of the lifting frame, and the auxiliary wheels are installed at the bottom of the auxiliary support.

[0024] Compared with the prior art, the present invention has the following advantages: 1. By installing a guide wheel mechanism and an infrared sensor on the frame, when the drive unit moves the frame along the surface of the floor tiles, at least a portion of the guide wheel mechanism extends into the gaps between the tiles and moves forward along the gaps. Simultaneously, the infrared sensor scans for gaps ahead in the direction of travel. The infrared sensor, in conjunction with the guide wheel mechanism, enables the identification and tracking of gaps in different types and sizes of floor tiles. This significantly improves upon the shortcomings of traditional tile grouting construction, such as low efficiency and large errors in manual positioning, as well as the low efficiency and large errors of traditional tile grouting machines using a single detection method. The unique "pre-scan + real-time correction" working mode ensures that the grout and filling path are always precisely aligned with the center line of the gap, ensuring zero damage to the tile edges and significantly improving the aesthetics of the installation. This design not only solves the long-standing problem of construction accuracy in the industry but also, through intelligent and automated detection methods, improves efficiency while maximizing the overall aesthetics and lifespan of the tile installation.

[0025] 2. The first drive component of the adhesive dispensing mechanism includes a first motor, a first planetary gear set, a second planetary gear set, and an output gear set. The two planetary gear sets mesh with each other, and the push rod has multiple grooves that engage with the teeth of the output gear set, thereby enabling the output gear set to drive the push rod to move. This structural design not only greatly improves the adhesive dispensing efficiency but also simplifies the construction process. More importantly, this constant pressure delivery method ensures the uniformity of the adhesive dispensing, thus maximizing the stability of the grout quality.

[0026] 3. The adhesive injection mechanism also includes a rotating base assembly, which is mounted on the frame, with the first base mounted on the rotating base assembly. The rotating base assembly can rotate the first base and the components mounted on it from 0 to 180 degrees, enabling dynamic adjustment of the construction direction. This allows for adjustment of the construction direction without moving the machine body, significantly shortening the grouting time and improving efficiency. This mechanism can not only complete regular gap filling but also address gaps previously obscured by the vehicle body, ensuring a continuous and uninterrupted adhesive line, greatly improving processing speed and accuracy. Compared to existing machines with fixed adhesive outlets, this application's solution achieves a higher gap completion rate and a more continuous adhesive line. This design not only significantly improves filling efficiency but also enhances the continuity of the grouting machine's operation. More importantly, this method ensures the integrity of the gap filling, improves filling efficiency, and eliminates the need for subsequent manual filling.

[0027] 4. A rack and pinion mechanism is installed on the inner side of the lifting frame. The second drive assembly includes a first servo motor and a second gear. By mounting the second gear on the first servo motor in conjunction with the rack and pinion, precise lifting control of the rollers can be achieved. When faced with grout gaps of different widths and paving patterns, the lifting wheels can precisely avoid these gaps, ensuring zero damage to the grout sealant and ensuring stable machine movement. This structural design not only improves construction quality but also reduces manual intervention. Compared to traditional methods that directly destroy or re-fill the original gaps, it reduces the need for subsequent processing, making it more efficient and intelligent.

[0028] 5. This application adopts a combination of Mecanum wheels and omnidirectional wheels, along with a high-precision Hall encoder, to realize intelligent movement and lifting control during the grouting process. This enables the equipment to achieve 360° omnidirectional free movement and zero-radius precise turning during the grouting process. This design greatly improves the operational flexibility of the grouting machine in complex environments, allowing it to move flexibly in confined spaces. Attached Figure Description

[0029] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0030] Figure 1 This is one of the three-dimensional structural schematic diagrams of the present invention; Figure 2 This is a second three-dimensional structural schematic diagram of the present invention; Figure 3 This is one of the schematic diagrams of a partial explosion structure of the present invention; Figure 4 This is the second schematic diagram of the partial explosion structure of the present invention; Figure 5 This is an exploded structural diagram of the first drive assembly and push rod of the present invention; Figure 6 This is a three-dimensional structural diagram of the present invention with part of the rubber tube removed, as well as the infrared sensor, guide wheel, micro-motion sensor, lever, and spring removed; Figure 7 This is a schematic diagram of the partial explosion structure of the present invention, in which part of the rubber tube, infrared sensor, guide wheel, micro-motion sensor, lever, and spring are removed; In the diagram: Frame 1, First Plate 11, Second Plate 12, Rod 13, Glue Dispensing Mechanism 2, First Base 21, First Drive Assembly 22, First Motor 221, First Planetary Gear Set 222, First Driving Gear 2221, First Driven Gear 2222, Second Planetary Gear Set 223, Second Driving Gear 2231, Second Driven Gear 2232, Output Gear Set 224, Third Driving Gear 2241, Third Driven Gear 2242, Push Rod 23, First Component 231, Second Component 232, Glue Tube 24, Rotating Base Assembly 25, Third Drive Assembly 251, Turntable Base 252, Turntable 2 53. Guiding device 3, guide wheel mechanism 31, mounting bracket 311, guide wheel 312, micro-motion sensor 313, lever 314, spring 315, infrared sensor 32, lifting device 4, lifting assembly 41, lifting frame 42, rack 421, second drive assembly 43, first servo motor 431, second gear 432, drive device 5, Mecanum wheel 511, second motor 512, omnidirectional wheel 513, third motor 514, auxiliary wheel assembly 6, auxiliary bracket 61, auxiliary wheel 62, seam pressing assembly 7, mounting base 71, second servo motor 72, seam pressing ball 73, connecting rod 74. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0032] Example 1: As Figure 1-7 As shown, the present invention proposes a grout sealing machine, including a frame 1, an adhesive injection mechanism 2, a guiding device 3, a lifting device 4, and a driving device 5; The glue dispensing mechanism 2, the guiding device 3, and the lifting device 4 are all mounted on the frame 1; The drive unit 5 is installed at the lower part of the lifting device 4, and the lifting device 4 is used to adjust the height of the drive unit 5. The guide device 3 extends outward from the frame 1 to the outside of the frame 1, and at least one end of the guide device 3 faces the ground; the guide device 3 includes a guide wheel mechanism 31 and an infrared sensor 32, both of which are mounted on the frame 1. When the drive unit 5 drives the frame 1 to move along the surface of the floor tile, at least a portion of the guide wheel mechanism 31 extends into the gap between the floor tile and moves forward along the gap. Simultaneously, the infrared sensor 32 scans for gaps ahead in the direction of travel. The infrared sensor 32, in conjunction with the guide wheel mechanism 31, enables the identification and tracking of gaps in different types and sizes of floor tiles, greatly improving the low efficiency and large errors of traditional manual positioning in tile grouting. The unique "pre-scan + real-time correction" working mode ensures that the grout and filling path are always precisely aligned with the center line of the gap, ensuring zero damage to the tile edges and significantly improving the aesthetics of the installation. This design not only solves the long-standing problem of construction accuracy in the industry but also, through intelligent and automated detection methods, improves efficiency while maximizing the overall aesthetics and lifespan of the tile installation.

[0033] like Figure 1-2 As shown, the guide wheel mechanism 31 includes a mounting frame 311, a guide wheel 312, a micro-motion sensor 313, a lever 314, and a spring 315; Mounting bracket 311, micro-motion sensor 313, and lever 314 are all mounted on frame 1; One end of the mounting bracket 311 is mounted on the rack 1; the other end of the mounting bracket 311 faces the ground and extends outward from the rack 1. The guide wheel 312 is mounted on one end of the mounting bracket 311, and the guide wheel 312 is located at the end facing the ground; The micro-motion sensor 313 is positioned correspondingly to the mounting bracket 311. The micro-motion sensor 313 is in contact with the mounting bracket 311 or has a certain gap. The micro-motion sensor is used to detect whether the guide wheel is stuck in the gap. When it is stuck in the gap, the micro-motion switch in the micro-motion sensor is triggered, and the grout sealing machine starts to move forward and begin to fill the gap.

[0034] Spring 315 is mounted on mounting bracket 311. Spring 315 is used to limit the position of mounting bracket 311, thereby controlling the angle between mounting bracket 311 and floor tile. When the tile grouting machine moves, guide wheel 312 also moves on the floor. Spring 315 is in a compressed state. When the side infrared sensor 32 detects a gap, the tile grouting machine moves to the side, and guide wheel 312 moves to the side into the gap at the same time. When guide wheel 312 moves into the gap, the pressure of spring 315 is released. A third servo motor is mounted on the frame. The third servo motor is connected to a lever 314. The lever 314 is used to move the mounting bracket 311, thereby raising the guide wheel 312. When the grout machine moves to the cross-shaped gap, if the infrared sensor 32 and the micro-motion sensor 313 detect the already filled gap, the drive device 5 and the guide wheel 312 need to be lifted. When the guide wheel 312 needs to be lifted, the third servo motor drives the lever 314 to rotate upward, so that the lever 314 pushes the mounting bracket 311 upward, thereby lifting the guide wheel 312 and making the guide wheel 312 leave the filled gap.

[0035] like Figure 1 As shown, the glue dispensing mechanism 2 includes a first base 21, a first drive assembly 22, a push rod 23, and a glue tube 24; The first base 21 is mounted on the frame 1; The first drive assembly 22, push rod 23 and hose 24 are all mounted on the first base 21; The first drive assembly 22 is connected to the push rod 23. The first drive assembly 22 is used to drive the push rod 23 to move towards or away from the glue tube 24. When the first drive assembly 22 drives the push rod 23 to move towards the glue tube 24, the push rod 23 evenly squeezes the sealant in the glue tube, and the sealant flows into the gap of the floor tile through the glue tube.

[0036] like Figure 4 As shown, the first drive assembly 22 includes a first motor 221, a first planetary gear set 222, a second planetary gear set 223, and an output gear set 224; The first motor 221 is mounted on the first base 21. The first motor 221 is connected to the first planetary gear set 222. The first planetary gear set 222 is connected to the second planetary gear set 223. The second planetary gear set 223 is connected to the output gear set 224. The output gear set 224 is connected to the push rod 23. The push rod 23 has multiple grooves that engage with the teeth of the output gear set 224, allowing the output gear set 224 to drive the push rod 23 to move. This structural design not only greatly improves the glue dispensing efficiency but also simplifies the construction process. More importantly, this constant pressure delivery method ensures the uniformity of the grout dispensing, thereby maximizing the stability of the grout quality.

[0037] The first planetary gear set 222 includes a first driving gear 2221 and four first driven gears 2222. The first driving gear 2221 is connected to the output end of the first motor 221. The first driven gears 2222 mesh with the first driving gear 2221. The first driven gears 2222 are arranged around the outer contour edge of the first driving gear 2221. There is a certain gap between two adjacent first driven gears 2222.

[0038] The second planetary gear set 223 includes four second driving gears 2231 and one second driven gear 2232. The second driving gears 2231 are connected to the corresponding first driven gears 2222. The second driving gears 2231 mesh with the second driven gears 2232. The second driving gears 2231 are arranged around the outer contour edge of the second driven gears 2232. There is a certain gap between two adjacent second driving gears 2231.

[0039] The output gear set 224 includes a third driving gear 2241 and two third driven gears 2242. The third driving gear 2241 is connected to the second driven gear 2232 and meshes with the third driven gear 2242. The two third driven gears 2242 are positioned opposite each other and each third driven gear 2242 cooperates with a corresponding push rod 23, thereby enabling the third driven gear 2242 to drive the push rod 23 to move.

[0040] like Figure 5 As shown, in this embodiment, the glue dispensing mechanism 2 includes two push rods 23; The push rod 23 has a first component 231 on one end and a second component 232 on the other end; The first component 231 is a cylindrical part, such as a plunger or piston; The first piece 231 is used to squeeze the sealant inside the tube towards the tube outlet; The second component 232 is used to connect the ends of the two push rods 23 away from the hose 24, so that the two push rods 23 can move synchronously. When it is necessary to inject sealant into the gaps between the floor tiles, the first motor 221 drives the two push rods 23 to move towards the direction of the glue tube 24. The first piece 231 extends into the glue tube and evenly squeezes the sealant in the glue tube. The sealant flows into the gaps between the floor tiles through the glue tube.

[0041] like Figure 1 As shown, the dispensing mechanism 2 also includes a rotating base assembly 25; The rotating base assembly 25 is mounted on the frame 1, and the first base 21 is mounted on the rotating base assembly 25; The rotating base assembly 25 drives the first base 21 and the components mounted on it to rotate 0-180 degrees, enabling dynamic adjustment of the construction direction. This allows for direction adjustment without moving the machine body, significantly shortening the grouting time and improving efficiency. This mechanism can also address gaps previously obscured by the vehicle body while completing regular gap filling, ensuring continuous, uninterrupted adhesive lines and greatly improving processing speed and accuracy. Compared to existing machines with fixed adhesive outlets, this solution achieves a higher completeness rate and more continuous adhesive lines. This design not only significantly improves filling efficiency but also enhances the continuity of the grouting machine's operation. More importantly, this method ensures the integrity of the gap filling, improves filling efficiency, and eliminates the need for subsequent manual filling.

[0042] like Figure 7 As shown, the rotating base assembly 25 includes a third drive assembly 251, a turntable base 252, and a turntable 253. The turntable base 252 is mounted on the frame 1, the third drive assembly 251 is mounted on the bottom of the turntable base 252, and the turntable 253 is mounted on the top of the turntable base 252; The third drive assembly 251 is connected to the turntable 253 and is used to drive the turntable 253 to rotate.

[0043] The third drive component 251 uses a digital servo motor that receives a 50Hz PWM pulse signal with a pulse width of 500-2500μs each time. This allows it to drive the output shaft to achieve precise angle positioning within the range of 0°-180°, with a positioning accuracy of up to [missing information]. 0.5°.

[0044] like Figure 2 As shown, the lifting device 4 includes three sets of lifting components 41, with a certain distance between adjacent sets of lifting components 41; Each lifting assembly includes a lifting frame 42 and two second drive assemblies 43; The lifting frame 42 is connected to the frame 1, and the lifting frame 42 is also connected to the second drive assembly 43, which is mounted on the frame 1. The lifting frame 42 can slide up and down relative to the frame 1, and the second drive component 43 can drive the lifting frame 42 to rise or fall along the frame 1.

[0045] like Figure 3 As shown, a rack 421 is installed on the inner side of the lifting frame 42; The second drive assembly 43 includes a first servo motor 431 and a second gear 432. The second gear 432 is installed at the output end of the first servo motor 431 and meshes with a rack 421. When the first servo motor 431 rotates forward or reverse, it drives the second gear 432 to rotate forward or reverse, thereby causing the lifting frame 42 to rise or fall.

[0046] By mounting a second gear 432 on the first servo motor in conjunction with a rack 421, precise lifting and lowering control of the rollers can be achieved. This allows the machine to precisely avoid filled gaps of varying widths and tiling patterns, ensuring zero damage to the grout and stable machine movement. This structural design not only improves construction quality but also reduces manual intervention. Compared to traditional methods that directly destroy or refill the original gaps, it reduces the need for subsequent processing, making it more efficient and intelligent.

[0047] like Figure 2 As shown, the drive unit 5 includes four Mecanum wheels 511, four second motors 512, two omnidirectional wheels 513, and two third motors 514; The second motor 512 and the third motor 514 are both installed at the lower part of the lifting device 4, with a certain distance between them. A Mecanum wheel 511 is mounted on each second motor 512, and an omnidirectional wheel 513 is mounted on each third motor 514; When the second motor 512 drives the corresponding Mecanum wheel 511 to rotate, it can drive the frame 1 to move or rotate in any direction along the surface of the floor tile. When the third motor 514 drives the corresponding omnidirectional wheel 513 to rotate, it can drive the frame 1 to rotate or move on the surface of the floor tile. When the second motor 512 drives the corresponding Mecanum wheel 511 to rotate, and the third motor 514 drives the corresponding omnidirectional wheel 513 to rotate, the frame 1 can be moved or rotated along the surface of the floor tile in any direction.

[0048] When linear motion is required, Mecanum wheel 511 and omnidirectional wheel 513 rotate in the same direction and at the same speed.

[0049] When rotation in place is required, the two Mecanum wheels 511 on each diagonal rotate in opposite directions, generating rotational torque (e.g., the front wheels rotate forward and the rear wheels rotate in reverse); or when rotation in place is required, the two omnidirectional wheels 513 rotate in opposite directions, generating rotational torque (e.g., the front wheels rotate forward and the rear wheels rotate in reverse).

[0050] When lateral translation is required, the two diagonal Mecanum wheels 511 rotate in the same direction and at the same speed, while the Mecanum wheels 511 on the same side rotate in opposite directions; or when lateral translation is required, the speed difference between the two omnidirectional wheels 513 is adjusted, and the lateral movement is achieved by the lateral rolling of the small rollers (such as the left / right omnidirectional wheels 513 rotating in opposite directions).

[0051] When diagonal translation is required, only one set of two Mecanum wheels 511 on the diagonal rotate in the same direction and at the same speed.

[0052] like Figure 3 As shown, the frame 1 includes a first plate 11, a second plate 12, and a plurality of rods 13; The first plate 11 is located above the second plate 12, and there is a certain distance between the first plate 11 and the second plate 12; The first plate 11 and the second plate 12 are connected by a rod 13.

[0053] like Figure 1 and 3 As shown, it also includes multiple auxiliary wheel assemblies 6; The auxiliary wheel assembly 6 includes an auxiliary bracket 61 and an auxiliary wheel 62. The auxiliary bracket 61 is installed on the side of the lifting frame 42, and the auxiliary wheel 62 is installed at the bottom of the auxiliary bracket 61.

[0054] like Figure 1 and 2 As shown, in this embodiment, the grout sealing machine also includes a grout pressing assembly 7, which is installed on the glue tube 24 and is located behind the glue outlet of the glue tube 24; The seam pressing assembly 7 includes a mounting base 71, a second servo motor 72, a seam pressing ball 73, and a connecting rod 74; Mounting base 71 is mounted on hose 24, and second servo motor 72 is mounted on mounting base 71. Second servo motor 72 is connected to one end of connecting rod 74, and the other end of connecting rod 74 is connected to seam ball 73. Second servo motor 72 controls the lifting and lowering of connecting rod 74, thereby realizing the lifting and lowering of seam ball.

[0055] After the grout is filled, the pressing ball automatically completes the pressing process as the equipment moves, controlled by a second servo motor. When one grout is pressed, the second servo motor controls the pressing ball to rotate and lift, preventing damage to the pressed grout during machine movement. This design is suitable for most conventional grout application needs. The pressing ball 73 maintains a fixed distance from the nozzle of the adhesive tube 24, ensuring pressing is completed when the grout is in its optimal plasticity. This purely mechanical design requires no additional control circuitry, is simple and reliable, has low maintenance costs, and is suitable for most basic grout application scenarios. Compared to traditional manual pressing, it improves efficiency, and the modular design allows for quick replacement of pressing balls of different sizes, with short conversion times, meeting various application requirements.

[0056] In this embodiment, both the second motor 512 and the third motor 514 have Hall encoders. The Hall encoders are used to control the rotation of the second motor 512, thereby controlling the rotation of the corresponding rollers.

[0057] In this embodiment, the grout sewing machine also includes a main control board, which is mounted on the frame 1. In this embodiment, the Arduino Mega 2560 is used as the main control board. The first motor 221, the second motor 512, the guide wheel mechanism 31, the infrared sensor, the first servo motor 431, the third drive assembly 251, and the Hall encoder are respectively connected to the main control board, which is used to control the operation of each component of this application.

[0058] In this embodiment, the grout sewing machine also includes a human-machine interaction module, which is connected to the main control board. The human-machine interaction module has intelligent settings, rapid self-test, precise positioning, and voice control functions.

[0059] The working principle of this embodiment: First, a high-precision infrared sensor scans the position and direction of gaps within a 5cm range ahead. After detecting the target gap, the drive unit 5 of the tile grouting machine in this embodiment drives the frame 1 to move along the surface of the floor tile. The guide wheel mechanism 31 extends into the gap of the floor tile and moves forward along the gap. The guide wheel mechanism 31, with its 45° conical rim design, corrects path deviations in real time during movement. The dual-module dual collaborative detection of "infrared sensor 32 + guide wheel mechanism 31" enables the equipment to automatically adapt to gaps of different widths from 1 to 10mm, ensuring that the grout and filling path are always precisely aligned with the center line of the gap.

[0060] The omnidirectional movement process during tile grout installation is achieved through a drive unit 5. This unit includes four Mecanum wheels 511, four second motors 512, two omnidirectional wheels 513, and two third motors 514. Each second motor 512 drives the Mecanum wheel 511 to rotate, and each third motor 514 drives the corresponding omnidirectional wheel 513 to rotate, enabling the frame 1 to move or rotate along the surface of the floor tiles in any direction. When linear movement is required, the Mecanum wheels 511 and the omnidirectional wheels 513 rotate in the same direction and at the same speed. When rotation in place is required, the two Mecanum wheels 511 on each diagonal rotate in opposite directions, generating rotational torque (e.g., front wheels rotate clockwise, rear wheels rotate counterclockwise); or when rotation in place is required, the two omnidirectional wheels 513 rotate in opposite directions, generating rotational torque (e.g., front wheels rotate clockwise, rear wheels rotate counterclockwise). When lateral translation is required, the two diagonal Mecanum wheels 511 rotate in the same direction and at the same speed, while the Mecanum wheels 511 on the same side rotate in opposite directions; or when lateral translation is required, the speed difference between the two omnidirectional wheels 513 is adjusted, and lateral movement is achieved by the lateral rolling of small rollers (such as the left / right omnidirectional wheels 513 rotating in opposite directions). When diagonal translation is required, only one set of two diagonal Mecanum wheels 511 rotates in the same direction and at the same speed.

[0061] A drive unit 5 is installed at the lower part of the lifting device 4, and the lifting device 4 is used to adjust the height of the drive unit 5. The lifting device 4 includes a second gear 432 in the second drive assembly 43, which is installed at the output end of the first servo motor 431. The second gear 432 meshes with the rack 421. When the first servo motor 431 rotates forward or reverse, it drives the second gear 432 to rotate forward or reverse, thereby driving the lifting frame 42 to rise or fall, realizing precise lifting control of the drive unit 5, accurately avoiding the filled gaps, and ensuring zero damage to the grout in the filled gaps.

[0062] When adhesive is needed, the first motor 221 drives the first drive wheel 2221 to rotate, which in turn drives the first driven wheel 2222 to rotate. The first driven wheel 2222 then drives the second drive wheel 2231 to rotate, which in turn drives the second driven wheel 2232 to rotate. The second driven wheel 2232 then drives the third drive wheel 2241 to rotate, which in turn drives the third driven wheel 2242 to rotate. The third driven wheel 2242 then moves the push rod 23, causing it to move closer to the adhesive tube 24. The push rod 23 evenly compresses the adhesive within the tube, allowing it to flow through the tube into the gaps between the floor tiles. This brushless motor-driven rack and pinion dual-push rod precision adhesive dispensing system not only significantly improves dispensing efficiency but also simplifies the construction process. The grout sealant flows evenly and smoothly through the mixing tube, while the sealant outlet is a vertical pipe. The innovative anti-backflow design effectively avoids the intermittent dispensing problem common in traditional caulking guns, ensuring a continuous and complete sealant line during construction.

[0063] After the grout sealant is filled, as the equipment moves, the grout pressing ball on the pressing assembly is raised and lowered by the connecting rod 74 controlled by the second servo motor 72. When a grout is pressed, or when the equipment moves to a filled grout area, the second servo motor controls the grout pressing ball to rotate and lift, preventing damage to the pressed grout when the machine moves horizontally.

[0064] In this invention, the "left, right, up, down" orientations / directions involved in the technical solution are... Figure 1 The displayed content serves as a reference benchmark; Furthermore, the terms "upper," "lower," "front," "rear," "left," and "right" used above are for descriptive purposes only and should not be construed as indicating or implying relative importance. Unless otherwise specifically stated, the relative steps, numerical expressions, and values ​​of components and steps described in these embodiments do not limit the scope of the invention.

[0065] Of course, the above description is only a specific embodiment of the present invention and is not intended to limit the scope of the present invention. All equivalent changes or modifications made to the structure, features and principles described in the claims of the present invention should be included in the scope of the claims of the present invention.

[0066] The above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and are not intended to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the scope of the technology disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention.

Claims

1. A tile grout sewing machine, characterized in that, It includes a frame (1), a glue injection mechanism (2), a guide device (3), a lifting device (4), and a drive device (5); The glue dispensing mechanism (2), the guiding device (3), and the lifting device (4) are all installed on the frame (1); The drive unit (5) is installed at the lower part of the lifting device (4), and the lifting device (4) is used to adjust the height of the drive unit (5); The guide device (3) extends outward from the frame (1) to the outside of the frame (1), and at least one end of the guide device (3) faces the ground; the guide device (3) includes a guide wheel mechanism (31) and an infrared sensor (32), both of which are mounted on the frame (1); When the drive unit (5) drives the frame (1) to move along the surface of the floor tile, at least a part of the guide wheel mechanism (31) extends into the gap of the floor tile and moves forward along the gap of the floor tile. At the same time, the infrared sensor (32) scans whether there is a gap in front of the direction of travel. The infrared sensor (32) and the guide wheel mechanism (31) work together to realize the identification and tracking of gaps in different types and specifications of floor tiles.

2. The tile grouting machine according to claim 1, characterized in that, The guide wheel mechanism (31) includes a mounting bracket (311), a guide wheel (312), a micro-motion sensor (313), a lever (314), and a spring (315). Mounting bracket (311), micro-motion sensor (313), and lever (314) are all mounted on frame (1); One end of the mounting bracket (311) is mounted on the frame (1); the other end of the mounting bracket (311) faces the ground and extends outward from the frame (1); The guide wheel (312) is mounted on one end of the mounting bracket (311), and the guide wheel (312) is located at the end facing the ground; The positions of the micro-motion sensor (313) and the mounting bracket (311) are set accordingly, and the micro-motion sensor (313) is in contact with the mounting bracket (311) or has a certain gap; A spring (315) is mounted on a mounting bracket (311) and is used to limit the position of the mounting bracket (311) so as to control the angle between the mounting bracket (311) and the floor tile.

3. A tile grouting machine according to claim 1 or 2, characterized in that, The glue injection mechanism (2) includes a first base (21), a first drive assembly (22), a push rod (23), and a glue tube (24); The first base (21) is mounted on the frame (1); The first drive assembly (22), push rod (23) and hose (24) are all mounted on the first base (21); The first drive assembly (22) is connected to the push rod (23). The first drive assembly (22) is used to drive the push rod (23) to move towards the direction of the glue tube (24) or away from the glue tube (24). When the first drive assembly (22) drives the push rod (23) to move towards the direction of the glue tube (24), the push rod (23) evenly squeezes the sealant in the glue tube, and the sealant flows into the gap of the floor tile through the glue tube.

4. A tile grouting machine according to claim 3, characterized in that, The first drive assembly (22) includes a first motor (221), a first planetary gear set (222), a second planetary gear set (223), and an output gear set (224). The first motor (221) is mounted on the first base (21). The first motor (221) is connected to the first planetary gear set (222). The first planetary gear set (222) is connected to the second planetary gear set (223). The second planetary gear set (223) is connected to the output gear set (224). The output gear set (224) is connected to the push rod (23). The push rod (23) has multiple grooves that can engage with the teeth of the output gear set (224), thereby enabling the output gear set (224) to drive the push rod (23) to move.

5. A tile grouting machine according to claim 3, characterized in that, The dispensing mechanism (2) also includes a rotating base assembly (25); The rotating base assembly (25) is mounted on the frame (1), and the first base (21) is mounted on the rotating base assembly (25); The rotating base assembly (25) is used to drive the first base (21) and the components mounted on the first base (21) to rotate 0-180 degrees.

6. A tile grouting machine according to claim 1, 2, 4 or 5, characterized in that, The lifting device (4) includes multiple sets of lifting components (41), with a certain distance between adjacent sets of lifting components (41); Each lifting assembly includes at least one lifting frame (42) and at least one second drive assembly (43). The lifting frame (42) is connected to the frame (1), and the lifting frame (42) is connected to the second drive assembly (43), which is mounted on the frame (1); Among them, the lifting frame (42) can slide up and down relative to the frame (1), and the second drive component (43) can drive the lifting frame (42) to rise or fall along the frame (1).

7. A tile grouting machine according to claim 6, characterized in that, A rack (421) is installed on the inner side of the lifting frame (42). The second drive assembly (43) includes a first servo motor (431) and a second gear (432), the second gear (432) being mounted on the output end of the first servo motor (431) and meshing with a rack (421); When the first servo motor (431) rotates forward or reverse, the first servo motor (431) drives the second gear (432) to rotate forward or reverse, thereby driving the lifting frame (42) to rise or fall.

8. A tile grouting machine according to claim 1, 2, 4, 5 or 7, characterized in that, The drive unit (5) includes a plurality of Mecanum wheels (511), a plurality of second motors (512), a plurality of omnidirectional wheels (513) and a plurality of third motors (514). The second motor (512) and the third motor (514) are both installed at the lower part of the lifting device (4), and there is a certain distance between the second motor (512) and the third motor (514); At least one Mecanum wheel (511) is mounted on each second motor (512), and at least one omnidirectional wheel (513) is mounted on each third motor (514). When the second motor (512) drives the corresponding Mecanum wheel (511) to rotate, it can drive the frame (1) to move or rotate in any direction along the surface of the floor tile; When the third motor (514) drives the corresponding omnidirectional wheel (513) to rotate, it can drive the frame (1) to rotate or move on the surface of the floor tile; When the second motor (512) drives the corresponding Mecanum wheel (511) to rotate, and the third motor (514) drives the corresponding omnidirectional wheel (513) to rotate, the frame (1) can be moved or rotated along the surface of the floor tile in any direction.

9. A tile grouting machine according to claim 1, 2, 4, 5 or 7, characterized in that, The frame (1) includes a first plate (11), a second plate (12) and a plurality of rods (13); The first plate (11) is located above the second plate (12), and there is a certain distance between the first plate (11) and the second plate (12); The first plate (11) and the second plate (12) are connected by a rod (13).

10. A tile grouting machine according to claim 1, 2, 4, 5 or 7, characterized in that, It also includes multiple auxiliary wheel assemblies (6); The auxiliary wheel assembly (6) includes an auxiliary bracket (61) and an auxiliary wheel (62). The auxiliary bracket (61) is installed on the side of the lifting frame (42), and the auxiliary wheel (62) is installed at the bottom of the auxiliary bracket (61).

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